WO2006137457A1

WO2006137457A1 - Hemming method and hemming device

Info

Publication number: WO2006137457A1
Application number: PCT/JP2006/312446
Authority: WO
Inventors: Yoshiyuki Kinouchi; Eisaku Hasegawa; Noriko Uematsu
Original assignee: Honda Motor Co., Ltd.
Priority date: 2005-06-21
Filing date: 2006-06-21
Publication date: 2006-12-28
Also published as: US7950260B2; GB0724945D0; JP4870479B2; US20090139293A1; GB2441709B; CN101203337A; GB2441709A; CN101203337B; DE112006001672T5; JP2007030041A; DE112006001672B4

Abstract

A hemming method, wherein a moving mold (18) having a first groove (52) and a second groove (54) is moved by a robot (22) along a direction for performing hemming, and positioned on a production line (14) relative to the wheel arch part (16) of a vehicle (12). The moving mold (18) is mounted on the vehicle (12) by a clamp mechanism (58) and fixedly positioned on the vehicle. A guide roller (32) is rolled in the first groove (52) while being engaged with the first groove, and a flange (17) is tilted by the cone of the tapered roller (38) of a hemming roller (30) moving in conjunction with the guide roller (32). Next, the guide roller (32) is rolled in the second groove (54) while being engaged with the second groove, and the flange (17) is bent by the cylindrical surface of the cylindrical roller (40) of the hemming roller (30). Then, after the hemming is completed, the moving mold (18) is separated from the vehicle (12).

Description

Specification

Hemming processing method and hemming processing apparatus

Technical field

TECHNICAL FIELD [0001] The present invention relates to a hemming method and a hemming apparatus for bending a flange provided at an end portion of a workpiece according to a mold.

Background art

[0002] On the bonnet, trunk, door, and edge of a wheel house of an automobile, a hemming force may be applied to bend the flange on which the edge of the panel stands up toward the inside of the panel. Examples of the hemming cage include a roll hemming force in which a panel is positioned and held on a fixed mold and bent while pressing a roller against a flange at an end of the panel. In roll hemming carriages, the bending angle is large! Therefore, the bending force is applied through multiple steps including pre-bending (or pre-hemming), finishing bending (or main hemming), taking into account the bending accuracy. May be.

[0003] As such a roll hemming cage, a work is set in a die provided in a dedicated process in a dedicated space, and a unit held at the tip of the robot is rolled along a flange. Hemming methods have been proposed (see, for example, Utility Model Registration No. 2561596, Patent No. 2924569). In this method, force is applied with a work placed on the upper surface of a large fixed mold.

[0004] Further, in the flanging device described in Japanese Patent Application Laid-Open No. 2006-110628, a thin and long protective strip corresponding to a mold is applied to a rim strip at the end of a workpiece, and a pressure roller is rotated against the protective strip. It has been proposed that hemming is carried out in such a manner that the rim strip is pressed while being moved by a pressing roller while being moved.

[0005] The method of placing the workpiece on the upper surface of the fixed die and performing roll hemming requires a fixed die that supports the entire workpiece. Therefore, if the workpiece is large, the fixed die is correspondingly adjusted accordingly. A large one is required. In particular, even when roll hemming is performed on only a part of the workpiece, the fixed mold is not rational because it requires not only the caulking part but also the entire workpiece to support a large size. In addition, various roll hemming processes are required for each processing site. When required, a plurality of corresponding fixed molds are provided, and their storage and management are complicated.

[0006] Furthermore, in the above method, the arrangement and configuration of other peripheral devices are restricted based on the fixed mold, and it is necessary to provide a dedicated space and a dedicated process for roll hemming. It is difficult to provide on the line. Therefore, it is necessary to transfer the workpiece between other assembly processes, and the applied workpiece is limited to a small one that can be transferred. In other words, it is difficult to apply mining to a roll for a large workpiece after assembly, and it is restricted to roll hemming for each small part before assembly.

[0007] From this point of view, when performing a wheel cover on a wheel arch or the like in an automobile production process, a roll hemming force is applied to a sheet metal part near the wheel arch in a special hemming process. After that, the sheet metal part is to be assembled to the white body, and further improvement in productivity is desired in terms of production space, inter-process conveyance, assembly time, and the like.

On the other hand, in the method described in Utility Model Registration No. 2561596, the attitude of the roller unit during preliminary bending (Figure 2 in Utility Model Registration No. 2561596) and the attitude during final bending (Utility Model Registration No. Since Figure 5) in the 2561596 publication is greatly different, it takes time to shift between them and the attitude control procedure is complicated. Furthermore, it is difficult to regulate the posture and pressure of the hemming roller during the preliminary bending, and as shown in FIG. 15, the flange 900 may be bent unnaturally so as to be bent or waved excessively.

[0009] In addition, in the method described in Japanese Patent No. 2924569, since only one guide groove is provided, different hemming rollers must be used for preliminary bending and finishing bending. Requires extra time for replacement. Furthermore, since the guide groove is provided on the surface side of the mold, the force applied to the flange during finishing (FIG. 3 (c) in Japanese Patent No. 2924569) is engaged with the groove. It is also distributed to the guide roller, and the force that can be obtained is limited because the groove acts as a stopper.

[0010] In the method described in Japanese Patent Application Laid-Open No. 2006-110628, a protective strip corresponding to a mold is used. It is not possible to automatically attach the head to the workpiece, and the worker must put it on manually. The protective strip is also heavy and complex because the protective strip is provided with a fairly large framework, clamps, etc. for mounting on the workpiece. Therefore, there is the same inconvenience as the fixed mold that it is difficult to provide on a normal production line.

[0011] Further, in the method described in Japanese Patent Application Laid-Open No. 2006-110628, the pressure roller has a normal cylindrical shape, the protective strip on the abutting side is also a smooth surface, and the mutual positioning is not performed. , You can't roll it exactly in the direction you want.

[0012] Furthermore, Japanese Patent Application Laid-Open No. 2006-110628 discloses an example in which a sensor roller is provided as a third roller for positioning the pressure roller with respect to the protective strip. In this case, the pressure roller is brought into contact with the side surface of the protective strip, and the sensor roller is brought into contact with one end surface of the protective strip. In such a method, there is a sensor roller on one end face of the protective strip and the positioning force is applied in that direction, and there is no positioning means on the other end face. Can occur. In addition, three rollers are required and the structure is complicated.

Disclosure of the invention

[0013] The present invention has been made in consideration of such problems, and can be applied universally regardless of the size of the entire workpiece, and can be applied to both the force and the production line. An object of the present invention is to provide a hemming processing method and a hemming processing apparatus capable of performing the above.

Another object of the present invention is to provide a hemming check method and a hemming check device capable of performing a transition between pre-bending and finish bending in a short time and with a simple procedure. And

[0015] Furthermore, an object of the present invention is to provide a hemming processing method and a hemming processing apparatus capable of quickly and accurately performing positioning contact between a workpiece and a mold.

[0016] Furthermore, the present invention provides a hemming check method and a hemming process capable of setting a hemming roller at an appropriate position with respect to a workpiece when hemming is performed using a mold. An object is to provide an apparatus.

[0017] A hemming cache method according to an exemplary embodiment of the present invention includes a moving mold having a guide strip. A positioning process in which the surface is brought into contact with the workpiece, and the guide strip is positioned so as to be substantially parallel to the flange provided at the end of the workpiece, and rolling while the guide roller is engaged with the guide strip. And a step of performing hemming on the flange by a hemming roller that rolls in conjunction with the guide roller, and a separation step of separating the moving mold from the workpiece after hemming. It is characterized by.

[0018] As described above, by using the moving mold for positioning with respect to the workpiece, the moving mold only needs to have a size corresponding to the machining site, and can be applied universally regardless of the size of the entire workpiece. can do. Further, the moving mold is smaller than the conventional fixed mold, and can be arranged in the vicinity of the production line, and is suitably applied to the workpiece that has been conveyed.

In this case, when the movable mold is attached to the workpiece and positioned and fixed, the positioning with respect to the workpiece is performed more accurately.

[0020] The moving mold has a plate shape, and the guide strip is provided on a first guide strip provided on the back surface outside the end portion of the flange, and on the back surface inside the end portion of the flange. The hemming roller is tapered toward the inner side than the end of the flange and is tapered toward the distal end side, and is provided at the proximal end side with a cylindrical shape. A cylindrical roller, and in the machining step, the guide roller is rolled while being engaged with the first guide strip, and the taper roller is brought into contact with the flange to incline the first hemming step, and the guide roller And a second hemming step in which the flange and the moving mold are sandwiched between the cylindrical roller and the guide roller while being engaged with the second guide strip.

[0021] Thereby, the first hemming step as the preliminary bending and the second step as the finishing bending can be performed using an apparatus having a simple configuration. In addition, the first hemming process force can be shifted to the second hemming process only by moving the hemming roller forward, and the processing time can be shortened.

[0022] Further, the hemming processing apparatus according to the exemplary embodiment of the present invention includes a first guide strip and a second guide strip, the surface of which contacts a workpiece having a flange, and the back surface is substantially parallel to the flange. A die, a guide roller that engages with the first guide strip or the second guide strip depending on the process, and a hemming machine that hemmes the flange in conjunction with the guide roller. A hemming processing apparatus having a grora, wherein the first guide strip is provided outside an end portion of the flange, and the second guide strip is provided inside an end portion of the flange; The hemming roller includes a taper roller tapered toward the inner side than the end of the flange and provided on the distal end side, and a cylindrical roller provided on the proximal end side in a cylindrical shape.

[0023] Thus, the first hemming step as the pre-bending and the second step as the finish bending can be performed using an apparatus having a simple configuration. Further, the first hemming process force can be shifted to the second hemming process only by moving the hemming roller forward, so that the machining time can be shortened. However, the transfer procedure is simple.

[0024] Further, a hemming cache method according to an exemplary embodiment of the present invention is a hemming cache method in which a flange of a work placed at a predetermined station is bent using a roller, and is in the vicinity of the station. A moving mold disposed in the first stage is conveyed by a mold moving means and is brought into contact with the work; the work is sandwiched between the moving mold and the roller; and the hemming roller is placed against the flange. And a second step of bending while rolling.

Thus, according to the mold moving means, the positioning contact between the workpiece and the mold can be performed quickly and accurately.

[0026] If the mold moving means is an articulated robot that can be programmed, the positioning contact between the workpiece and the moving mold can be performed more quickly and accurately.

[0027] In the second step, the flange is bent by moving the hemming roller by roller moving means while holding the moving mold in contact with the workpiece by the mold moving means. May be. In this way, the mold moving means and the roller moving means cooperate to hold the moving mold and perform hemming processing, so that the moving mold holding process is unnecessary, and the procedure is simple and short. Processing can be done in time.

[0028] When the roller moving means is an articulated robot capable of performing a program operation, the roller can be moved quickly and accurately.

[0029] The mold moving means holds the hemming roller and the moving mold, and in the first step, the moving mold is fixed to the workpiece by positioning fixing means, Thereafter, the moving mold is separated from the mold moving means, and in the second step, the hemming roller is moved to the mold while the moving mold is held in contact with the workpiece by the positioning and fixing means. The flange may be bent by being moved by a mold moving means. Thereby, one moving means can be used both for moving the moving mold and for hemming calorie.

[0030] The moving mold includes a guide strip that is substantially parallel to the flange in a state of being in contact with the workpiece in the first step, and the hemming roller is a guide roller that is guided by the guide strip. In the second step, force may be applied by the hemming roller while rolling the guide roller while following the guide strip. By making the guide roller follow the guide strip, the hemming roller can be positioned accurately.

[0031] Plural types of the moving molds are arranged in the vicinity of the station, and the mold moving means acquires information on a work to be conveyed next by an external computer force, and the next work You may choose to transfer a mold that corresponds to the 搬送. Since the moving mold is made small, one station can handle multiple workpieces. Also, it is possible to prepare in advance by acquiring information on the work of the external computer in advance.

[0032] Further, a hemming processing apparatus according to an exemplary embodiment of the present invention is a hemming cache apparatus that bends a flange of a workpiece disposed at a predetermined station using a roller, and is disposed in the vicinity of the station. A moving mold, a mold moving means for bringing the moving mold into contact with the workpiece, a hemming roller that bends while rolling with respect to the flange, and moves the hemming roller along the flange. And a roller moving means.

As described above, according to the mold moving means, the positioning contact between the workpiece and the mold can be performed quickly and accurately.

[0034] The moving mold includes positioning and fixing means for the workpiece, the mold moving means and the roller moving means are common moving means, and a roller holding portion for holding the hemming roller; You can have a mold holding part that holds the mold detachably. Yes.

[0035] The moving mold includes a guide strip that is substantially parallel to the flange in a state of being in contact with the workpiece, and the hemming roller is coupled to a guide roller guided by the guide strip, The roller moving means may perform a force check by the hemming roller while rolling while following the guide roller with the guide strip.

[0036] The processing roller and the guide roller may be supported so as to be displaceable in the axial direction with reference to the roller moving means while maintaining a relative position.

[0037] A hemming method according to an exemplary embodiment of the present invention includes a mold including a guide strip, a guide roller that rolls while a position in an axial direction is defined by the guide strip, and a hemming process with respect to the flange. A hemming roller for performing the above, a hemming unit for supporting the guide roller and the hemming roller, and the hemming roller for performing a force check while rolling the guide roller while following the guide roller. Roller moving means for moving the hemming unit, and the hemming unit supports at least one of the hemming roller and the guide roller so as to be axially displaceable.

[0038] As described above, the guide strip that guides the guide roller is provided in the mold, and at least one of the hemming port roller and the guide roller is supported so as to be displaceable in the axial direction, so that these rollers are supported. Can be set at an appropriate position with respect to the workpiece.

[0039] The hemming unit may support the guide roller and the hemming roller so as to be displaceable in an axial direction while maintaining a relative position. This makes it possible to set the roller more appropriately for the workpiece.

[0040] According to the hemming / caching method and the hemming / caching apparatus according to the exemplary embodiment of the present invention, by using the moving mold that is positioned on the workpiece, the moving mold has a size corresponding to the cache portion. That is enough, and it can be applied universally regardless of the size of the entire workpiece. In addition, the moving mold is smaller than the conventional fixed mold, and can be arranged in the vicinity of the production line, and is suitably applied to the workpiece that has been conveyed.

[0041] Furthermore, the back surface of the mold is provided with two parallel first guide strips and second guide strips along the hemming direction, and is tapered and has a tapered roller provided on the tip side and a cylindrical shape. A hemming roller comprising a cylindrical roller provided on the proximal end side, and the first guide strip Pre-bending is performed by rolling the taper roller while the guide roller is engaged, and finish bending is performed by rolling the cylindrical roller while engaging the guide roller to the second guide strip. Transition between times can be performed in a short time and with a simple procedure.

Furthermore, in the hemming check method and the hemming check device according to the exemplary embodiment of the present invention, the positioning contact between the workpiece and the die can be performed quickly and accurately by the die moving means.

[0043] According to the hemming / caching method and the hemming / caching apparatus according to the exemplary embodiment of the present invention, the guide strip for guiding the guide roller is provided in the mold, and at least one of the hemming roller and the guide roller is provided. These rollers can be set at an appropriate position with respect to the workpiece by supporting the shaft so as to be displaceable in the axial direction.

[0044] Other features and advantages will be apparent from the description of the examples and the appended claims.

Brief Description of Drawings

[0045] FIG. 1 is a perspective view of a hemming apparatus according to a first exemplary embodiment.

FIG. 2 is a perspective view of a hemming unit provided at the tip of a robot in the hemming processing apparatus according to the first exemplary embodiment.

FIG. 3 is a perspective view of a moving mold fixed to a wheel arch part.

FIG. 4 is an enlarged cross-sectional view taken along arrows IV-IV in FIG.

FIG. 5 is a flowchart showing a procedure of a hemming method by the hemming device according to the first exemplary embodiment.

FIG. 6 is a partial cross-sectional perspective view of a workpiece, a hemming roller, and a guide roller during a first hemming step.

FIG. 7 is a cross-sectional view showing positions of a hemming roller, a guide roller, a flange, and a moving mold in the second hemming step.

FIG. 8 is a partial cross-sectional perspective view of a workpiece, a hemming roller, and a guide roller when performing a second hemming step.

FIG. 9 is a perspective view of a hemming apparatus according to a second exemplary embodiment.

[FIG. 10] A hemming cache device according to a second exemplary embodiment, which is fixed to a wheel arch. FIG.

FIG. 11 is a flowchart showing a procedure of a hemming method by the hemming device according to the second exemplary embodiment.

FIG. 12 is a perspective view of a hemming unit according to a modification.

FIG. 13 is a partial cross-sectional side view showing a hemming unit according to a modified example before the hemming cache.

FIG. 14 is a partial cross-sectional side view showing a hemming unit according to a modification at the time of hemming cache.

FIG. 15 is a cross-sectional view of a flange portion at the time of hemming cache according to the prior art.

Explanation of symbols

10a, 10b ... Hemming machine

12 ... Vehicle (work)

14 ... Production line

16 ... Wheel arch

17 ··· Flange

18, 70 ... Move mold

20, 20a ... Heming Tun

22, 72, 74 "Robot

26 ··· Container

30 ... Hemming roller

32 ··· Guide roller

38 ··· Taper roller

0 ... Cylindrical roller

9 ... Mold plate

9a… surface

9b… Back side

50… Outer arc

52 ... 1st groove (1st guide) 54 ... 2nd groove (2nd guide)

58… Clamp mechanism

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, a hemming processing method and a processing apparatus according to an exemplary embodiment of the present invention will be described with reference to FIGS. 1 to 14.

[0048] The hemming check device 10a according to the first exemplary embodiment and the hemming check device 10b according to the second exemplary embodiment perform assembly and processing on a vehicle (workpiece) 12 in a so-called white body state. This is a device for performing roll hemming force on the flange 17 of the wheel arch portion 16 on the left rear wheel side, which is set as an intermediate process in the production line 14 to be performed. The wheel arch 16 has a substantially arc shape of 180 °. In the state prior to machining by the hemming devices 10a and 10b, the flange 17 is bent 90 ° from the end 16a of the wheel arch 16 (see the two-dot chain line in FIG. 4) inward. .

As shown in FIG. 1, a hemming cache device 10a according to a first exemplary embodiment includes a moving mold 18 that is brought into contact with a wheel arch portion 16 of a vehicle 12 that is a workpiece, and the moving mold. A robot 22 that moves 18 and has a hemming unit 20 at the tip, a photoelectric sensor 23 that detects that the vehicle 12 is transported and arranged at a predetermined position (station) in the production line 14, and a controller that performs overall control With 24.

[0050] The robot 22 is a stationary industrial articulated type, and can move the hemming unit 20 to an arbitrary position and an arbitrary posture by a program operation. In the vicinity of the robot 22, a storage table 26 in which a plurality of types of moving molds 18 corresponding to the type of the vehicle 12 is arranged is provided in the operation range of the robot 22. Is stored in controller 24. The controller 24 is connected to an external production management computer (not shown) that controls the operation of the production line 14, and information indicating the type of the vehicle 12 conveyed on the production line 14 is supplied to the controller 24. . The moving mold 18 is small, and a plurality of moving molds 18 can be arranged within the operation range of the robot 22. The moving mold 18 is lightweight and easy to carry, and the robot 22 is small and paper output type.

[0051] As shown in FIG. 2, the hemming unit 20 has a hemming unit provided so that the end force also protrudes. It has a grawler 30 and a guide roller 32, and a chuck (die holding part) 34 provided on the side surface part. The chuck 34 has a pair of fingers 36 that open and close under the action of the controller 24, and is used for moving the moving mold 18.

[0052] The hemming roller 30 and the guide roller 32 are rotatably supported with respect to the support shafts 30a and 32a, and the hemming roller 30 has a function as a roller holding portion. Further, the hemming roller 30 and the guide roller 32 are movable in the Y direction (the direction in which the support shafts 30a and 32a are arranged), and the distance between the support shaft 30a and the support shaft 32a is adjusted. It is possible to apply pressure to the member sandwiched by 32.

[0053] Further, the hemming roller 30 and the guide roller 32 have a so-called floating structure, and can also move in the X direction (the axial direction of the support shafts 30a and 32a). That is, the hemming roller 30 and the guide roller 32 can move in the X direction and the Y direction (that is, in the XY plane orthogonal to the rolling direction) while maintaining a relative position, and are driven by an external force. And elastically move. That is, the support shaft 30a and the support shaft 32a can move in conjunction with the X and Y directions while maintaining the adjusted distance.

[0054] Since the hemming roller 30 and the guide roller 32 can float with respect to the robot 22 in the X direction and the Y direction, the floating structure can be achieved even if the teaching of the robot 22 actually has an error in the workpiece shape. The error is absorbed, and the hemming roller 30 can be accurately guided along the flange 17 without the guide roller 32 derailing from a first groove 52 and a second groove 54 described later.

[0055] When the axial directions of the hemming roller 30 and the guide roller 32 are not parallel, the axial direction of the guide roller 32 may be set to the X direction.

[0056] Further, the Y direction may be a direction in which the hemming roller 30 and the guide roller 32 face each other. Set it to match the direction of pressure applied by the pressure source connected to the hemming roller 30 and Z or the guide roller 32.

[0057] Further, the floating direction may further include one or more directions that are not parallel to the X direction and the Y direction as long as at least the X direction and the Y direction are included.

[0058] Furthermore, it is preferable that both the hemming roller 30 and the guide roller 32 have a floating structure so that the hemming roller 30 can follow the flange 17 more accurately. The However, even if only the guide roller 32 has a floating structure, it can follow the flange 17 fairly accurately, and the structure of the hemming unit 20 can be simplified.

[0059] Specific examples of the floating structure (FIGS. 12 to 14) will be described later.

The hemming roller 30 includes a tapered roller 38 provided on the distal end side, and a cylindrical roller 40 provided on the proximal end side in a unitary structure with the tapered roller 38. The taper roller 38 is a tapered truncated cone inclined at 45 ° in a side view, and the ridge line length L1 is set slightly longer than the height H of the flange 17. The cylindrical roller 40 has a cylindrical shape slightly larger in diameter than the base end side maximum diameter portion of the taper roller 38, and the axial height L 2 is set to be slightly smaller than the height H of the flange 17.

[0061] The guide roller 32 has a disk shape with a narrow periphery, and has a first groove (first guide strip) 52 or a second groove (second guide strip) 54 provided in the moving mold 18. (See Fig. 4). The position of the guide roller 32 in the X direction coincides with the position of the center (L2Z2) of the height L2 of the cylindrical roller 40 of the hemming roller 30 (see FIG. 4).

As shown in FIG. 3, the moving mold 18 is configured based on a mold plate 49. The mold plate 49 has a plate shape, and the side contacting the wheel arch 16 is referred to as the front surface 49a (see FIG. 4), and the opposite surface is referred to as the back surface 49b. Further, as viewed from the end portion 16a of the wheel arch portion 16, the workpiece side is referred to as an inner side, and the opposite side is referred to as an outer side.

[0063] The mold plate 49 is an arched plate shape in which the surface 49a abuts around the wheel arch portion 16, and the surface 49a is set to a three-dimensional curved surface that matches the surface shape of the vehicle 12. ing. Therefore, when the moving mold 18 is attached to the wheel arch portion 16, the first groove 52 and the second groove 54 are disposed in parallel (or substantially parallel) to the flange 17, and the surface 49a is located on the vehicle 12. Surface contact over a wide area.

[0064] The moving mold 18 includes an outer arc portion 50 formed slightly outside the end portion 16a of the wheel arch portion 16, and a first groove provided in parallel along the outer arc portion 50 on the back surface 49b. 52 and the second groove 54, a knob 56 provided on the back surface 49b, three clamp mechanisms (positioning and fixing means) 58 provided in the periphery, and a pipe 60 for supplying and recovering compressed fluid to the clamp mechanism 58 And a control valve 62 that performs switching control of the fluid supply direction of the pipe 60 and the like . The control valve 62 is controlled by the controller 24. The first groove 52 is provided on the mold plate 49 on the outer side protruding from the end 16a of the flange 17, and the second groove 54 is provided on the inner side of the end 16a.

The moving mold 18 is small because it contacts only the periphery of the wheel arch portion 16. In addition, it is set to light weight because it is not a load-bearing structure in which the weight of the vehicle 12 is not added because it abuts against the vehicle 12 from the side. Therefore, the movable mold 18 can be easily moved by the robot 22 by holding the knob 56 with the chuck 34 (see FIG. 1).

[0066] The clamp mechanism 58 includes a stay 64 that also extends the end portion of the mold plate 49, a cylinder 66 that is swingable with respect to the stage 64, and a support shaft that is provided on the stay 64. And an open / close lever 68 that tilts about the center. One end of the opening / closing lever 68 is a grip portion 68a that engages and holds the reference position of the vehicle 12, and the opposite end portion is rotatably coupled to the rod 66a of the cylinder 66 via a support shaft. Yes. That is, when the rod 66a of the cylinder 66 is extended, the opening / closing lever 68 is closed and the vehicle 12 is held by the grip portion 68a, and when the door 66a is retracted, the opening / closing lever 68 is opened (see two points in FIG. 3). Moving die 18 can be moved closer to or away from the vehicle 12. The vehicle 12 has a force at which the stop position on the production line 14 may slightly deviate from the specified value force. The clamp mechanism 58 allows the movable mold 18 to be accurately positioned with respect to the wheel arch portion 16.

[0067] When the movable mold 18 is fixed to the wheel arch portion 16 by the clamp mechanism 58, the outer arc portion 50 is located outside the end portion 16a of the wheel arch portion 16 (see FIG. 4). Placed on the lower side). The first groove 52 is disposed slightly outside the end portion 16a, specifically, slightly outside the half of the height L2 (L2Z2). The second groove 54 is disposed on the inner side of the end portion 16a, specifically, slightly on the inner side of half the height L2 (L2Z2) of the cylindrical roller 40. That is, the first groove 52 and the second groove 54 are arranged in parallel along the end portion 16a at a substantially symmetrical position with respect to the end portion 16a.

Next, a processing method for performing roll hemming force check on the flange 17 of the wheel arch portion 16 using the hemming check device 10a configured as described above will be described with reference to FIG. The process shown in FIG. 5 is executed by the moving mold 18, the hemming unit 20, and the robot 22 mainly under the control of the controller 24. [0069] First, in step SI, after confirming the vehicle type information of the vehicle 12 to which the production management computer force is also transported next, the robot 22 sets the movable mold 18 that is currently gripped by the storage table 26. Return to the position, and grip the other moving mold 18 corresponding to the vehicle type with the chuck 34. This holding work is not necessary if the corresponding moving mold 18 is already held, and when a plurality of vehicles 12 of the same vehicle type are transported in succession, the moving mold 18 is held. Of course, there is no need to change.

[0070] In step S2, the signal from the photoelectric sensor 23 is confirmed, and the process waits until the vehicle 12 is conveyed. The vehicle 12 is transported by the production line 14 and stops at a predetermined position in the vicinity of the robot 22. When the conveyance of the vehicle 12 is confirmed by the photoelectric sensor 23, the process proceeds to step S3.

[0071] In step S3, the robot 22 is operated to bring the surface 49a of the moving mold 18 into contact with the wheel arch portion 16 of the vehicle 12, and the control valve 62 is switched and driven to open / close the lever 68 of the clamp mechanism 58. To close. As a result, the movable mold 18 is attached to the wheel arch portion 16 and is accurately positioned and fixed. That is, in this step S3, the vehicle 12, which is a large heavy object, is completely stopped, and positioning and fixing can be easily performed by bringing the small and light movable mold 18 close to each other.

Note that the robot 22 may be approached while correcting the movement path of the robot 22 while confirming the relative position of the moving mold 18 with respect to the wheel arch portion 16 in real time by a predetermined sensor. Further, positioning may be performed by providing a reference pin on the movable mold 18 and inserting the reference pin into a predetermined reference hole of the vehicle 12. Of course, these positioning means may be used together.

[0073] In step S4, after opening the finger 36 of the chuck 34, the hemming unit 20 is separated from the moving mold 18 and separated.

[0074] In step S5, after changing the direction of the hemming unit 20, the outer circular arc portion 50 of the moving mold 18 is brought close to the guide roller 32 to be engaged with the first groove 52. In step S6, the guide roller 32 and the hemming roller 30 are brought close to each other, and the movable mold 18 is sandwiched between the guide roller 32 and the cylindrical roller 40 as shown in FIG. At this time, the flange 17 is pressed by the taper roller 38 and bent at an angle of 45 ° along the conical surface. It is also clear from Figure 4 As described above, the distance between the guide roller 32 and the cylindrical roller 40 is defined by the width w between the bottom of the first groove 52 and the surface 49a and does not approach too much. Therefore, the flange 17 will not be bent or waved more than the specified amount. Furthermore, since the guide roller 32 and the cylindrical roller 40 are disposed so as to coincide with each other in the X direction position, the movable mold 18 can be securely sandwiched. As a result, it is possible to prevent elastic deformation and displacement without applying moment force to the moving mold 18.

[0075] In step S7, as shown in FIG. 6, the flange 17 is bent at an angle of 45 ° inward by rolling it while engaging the guide roller 32 in the first groove 52 (following it). The first hemming process is performed continuously. That is, the hemming roller 30 and the guide roller 32 roll while rotating in opposite directions, and the flange 17 is continuously bent by the conical surface of the taper roller 38 to perform the first hemming step. At this time, since the hemming roller 30 and the guide roller 32 have a floating structure, the hemming roller 30 and the guide roller 32 can be displaced in the X and Y directions while maintaining their relative positions. The guide roller 32 can move following the first groove 52 accurately. Therefore, the taper roller 38 can press and deform the flange 17 in a specified direction. In addition, the operation accuracy of the robot 22 need not be extremely high, and the operation speed can be increased and the control procedure can be simplified. The hemming cache by the first hemming process is performed over the entire length of the flange 17.

Further, as is clear from FIG. 6 (and FIG. 8), the first groove 52 (and the second groove 54) defines the position in the X direction of the guide roller 32 and also defines the position in the Y direction. And accurate positioning is achieved. Since the hemming roller 30 is held at a position relative to the guide roller 32, the hemming roller 30 is accurately positioned in the same manner as the guide roller 32.

[0077] In step S8, the distance between the hemming roller 30 and the guide aperture roller 32 is set slightly apart from the moving mold 18 as indicated by the two-dot chain line portion in FIG.

[0078] In step S9, the hemming unit 20 is advanced to advance the hemming roller 30 and the guide roller 32 in the direction of arrow XI. This advance distance is equal to the distance between the first groove 52 and the second groove 54, and is slightly longer than the height L2 of the cylindrical roller 40.

[0079] In step S10, the guide roller 32 is engaged with the second groove 54. In addition, guide law As shown in FIG. 7, the movable die 18 is sandwiched and pressed by the guide roller 32 and the cylindrical roller 40 as shown in FIG. Thus, the operation procedure when moving the guide roller 32 from the first groove 52 to the second groove 54 is simple, and it is only necessary to advance the hemming unit 20 in the direction of the arrow XI while keeping the direction of the hemming unit 20 constant. In addition, since the movement distance is short, the transition is completed in a short time.

At this time, the flange 17 is pressed by the cylindrical roller 40 and bent until it contacts the back surface of the wheel arch portion 16. In other words, the flange 17 is bent at 90 ° from the initial angle by 45 ° in the first hemming process.

[0081] In step S11, as shown in FIG. 8, the flange 17 is brought into contact with the back surface of the wheel arch portion 16 by rolling (following) the guide roller 32 while engaging the second groove 54. The second hemming process is performed continuously until bending. That is, the hemming roller 30 and the guide roller 32 roll while rotating in opposite directions, and the flange 17 is continuously bent by the outer circumferential cylindrical surface of the cylindrical roller 40 to perform the second hemming step.

[0082] Further, since the second groove 54 is provided on the back surface 49b side of the mold plate 49, the flange 17 and the mold plate 49 are sandwiched between the cylindrical roller 40 and the guide roller 32 and reliably pressed. However, the pressing force does not disperse to other places and the strobe that restricts the pressing force acts on the flange 17 that is concentrated. As a result, the flange 17 is reliably bent.

[0083] In the second hemming step, as in the first hemming step, the exact path along the second groove 54 is moved by the floating structure of the hemming roller 30 and the guide roller 32, and the entire length of the flange 17 is processed. Done.

In step S12, as in step S8, the distance between the hemming roller 30 and the guide roller 32 is slightly separated from the moving mold 18. Further, the hemming unit 20 is moved away from the moving mold 18.

[0085] In step S13, the moving mold 18 is opened. That is, after changing the direction of the hemming unit 20, the knob 56 is gripped by the chuck 34 by approaching the back surface 49b, and the control valve 62 is switched to open the opening / closing lever 68 of the clamp mechanism 58.

In step S14, standby processing is performed. That is, the robot 22 is moved to a predetermined standby position to move the moving mold 18 away from the vehicle 12. Controller 24 is a production management console Informs the computer that hemming has been successfully completed. The production management computer that receives the notification drives the production line 14 after confirming that the conditions are met even if other predetermined requirements are met, and transports the vehicle 12 that has finished the hemming force to the next process. To do.

[0087] In this way, according to the hemming cache device 10a, hemming can be carried out by making contact with the vehicle 12 transported on the production line 14 by using the small and lightweight moving mold 18. In addition, no dedicated space for hemming carriage is required. In addition, since the hemming force check is performed on the production line 14 as in the other assembly and processing steps, the productivity of eliminating the trouble of transporting the vehicle 12 to another dedicated space only for the hemming check is improved. Further, according to the hemming carriage device 10a, the carriage 18 is applied while the moving mold 18 is brought into contact with the processed portion of the workpiece, so that it is applied regardless of the size of the workpiece.

[0088] Since the moving mold 18 is small and lightweight, a plurality of units can be stored in the storage base 26, and storage and management are simple, and the robot 22 selects the moving mold 18 for the vehicle type. Thus, the hemming force can be increased, and versatility is improved.

[0089] Furthermore, since the hemming roller 30 can be shared during the first roll hemming and the second roll hemming, it is not necessary to replace the rollers. Since the first groove 52 and the second groove 54 are provided on the back surface 49b side, the flange 17 and the mold plate 49 can be sandwiched and pressed by the cylindrical roller 40 and the guide roller 32 during the second hemming step. . These actions can be similarly obtained in the hemming cache device 10b described later.

[0090] Furthermore, according to the hemming cache device 10a, one robot 22 can be used as both the moving means for the moving mold 18 and the processing means for hemming.

[0091] According to the hemming carriage device 10a and the hemming carriage method, the robot 22 can perform positioning contact between the workpiece and the moving mold 18 quickly and accurately.

[0092] Further, the first groove 52 and the second groove 54 for guiding the guide roller 32 are provided in the movable mold 18, and at least one of the hemming roller 30 and the guide roller 32 is supported so as to be displaceable in the axial direction. By doing so, these rollers can be set at appropriate positions with respect to the workpiece.

Next, a hemming cache device 10b according to a second exemplary embodiment will be described with reference to FIGS. 9 to 11. FIG. About this hemming device 10b, the hemming device The same parts as those in 10a are denoted by the same reference numerals, and detailed description thereof is omitted.

As shown in FIG. 9, the hemming cache device 10b according to the second exemplary embodiment includes a moving mold 70 that is brought into contact with the wheel arch portion 16 of the vehicle 12 that is a workpiece, and the moving mold. It has a mold robot 72 for moving 70, a processing robot 74 having a hemming unit 20 at the tip, a photoelectric sensor 23, and a controller 24. When hemming is performed by the hemming apparatus 10b, the chuck 34 of the hemming unit 20 is not used and may be omitted. The processing robot 74 has the same configuration as the robot 22 described above. Unlike the robot 22, the mold robot 72 is provided with a mold gripping mechanism 76 for gripping the handle section 78 of the movable mold 70 instead of the hemming unit 20.

As shown in FIG. 10, the moving mold 70 includes a mold plate 49 and a handle portion 78 protruding from the back surface 49 b of the mold plate 49. The handle portion 78 is set to have a polygonal cross section in order to prevent rotational deviation of the mold plate 49. The mold plate 49 includes an outer circular arc portion 50, a first groove 52 and a second groove 54 similar to the moving mold 18. On the other hand, there is no equivalent to the knob 56, the clamp mechanism 58, the pipe 60, and the control valve 62, and the configuration is simpler than that of the moving mold 18. The mold gripping mechanism 76 corresponds to the chuck 34 described above. The mold gripping mechanism 76 accurately grips the specified position of the handle portion 78, and can move the movable mold 70 to an arbitrary position and an arbitrary posture by a program operation. is there.

The mold robot 72 and the processing robot 74 are arranged side by side in the vicinity of the production line 14. A storage table 26 is provided in the vicinity of the mold robot 72, and a plurality of movable molds 70 corresponding to the vehicle type are stored. The position data of the storage table 26 is stored in the controller 24.

[0097] Next, using the hemming gear device 10b configured as described above, a processing method for applying a roll hemming force to the flange 17 of the wheel arch portion 16! Explain with reference to.

[0098] In step S101, after confirming the vehicle type information of the vehicle 12 to which the production management computer force is to be transported next, the mold robot 72 currently holds and stores the movable mold 70. Returning to the position, another moving mold 70 corresponding to the vehicle type is gripped by the mold gripping mechanism 76. That is, the processing performed by the robot 22 in step S1 is performed by the mold robot 7. 2 do. At this time, the machining robot 74 stands by at a predetermined standby position.

[0099] In step S102, the mold robot 72 and the force robot 74 check the signal of the photoelectric sensor 23 and wait until the vehicle 12 is conveyed, and the conveyance of the vehicle 12 is confirmed. At this point, go to step S3.

In step S 103, the mold robot 72 is operated to bring the surface 49 a of the moving mold 70 into contact with the wheel arch portion 16 of the vehicle 12. At this time, while confirming the relative position of the moving mold 70 with respect to the wheel arch portion 16 in real time using a predetermined sensor, the moving path of the mold robot 72 is corrected while approaching to move the moving mold 70 to the wheel arch portion. Position and fix to 16 accurately. Further, a reference pin may be provided in the movable mold 70 and positioning may be performed by inserting the reference pin into a predetermined reference hole of the vehicle 12.

[0101] After that, roll hemming is performed on the flange 17 by the calorie robot 74 in steps S104 to S111. Since this machining procedure is the same as the procedure performed by the robot 22 in the above steps S5 to S12, detailed description thereof will be omitted. During this time, the mold robot 72 remains in the same posture and is stopped.

[0102] Further, standby processing is performed in step S112. That is, the mold robot 72 and the processing robot 74 are respectively moved to a predetermined standby position so that the moving mold 70 is separated from the vehicle 12 force, and predetermined post-processing is performed as in step S14.

[0103] Thus, according to the hemming carriage device 10b according to the second exemplary embodiment, the mold robot 72 and the force carriage robot 74 cooperate to move the moving mold 70. By performing processing with the holding and hemming unit 20, there is no need to change the moving mold 70 (processing corresponding to steps S4 and S13 described above), and the procedure is further simplified and processing is performed in a shorter time. be able to. Further, the moving mold 70 does not require an actuator, and is simple and lightweight.

[0104] Since the first groove 52 and the second groove 54 have a groove shape, the corresponding guide roller 32 can be formed into a simple disk shape, which is preferable. However, the first groove 52 and the second groove 54 are not necessarily limited to the groove shape as long as they guide the guide roller 32 (in other words, restrict the position in both the forward and reverse directions with respect to the X axis). Convex rail (guide strip) As an alternative, an annular groove may be provided on the peripheral surface of the guide roller 32.

[0105] In the above hemming check devices 10a and 10b, the force shown in the example of performing the roll hemming force check on the wheel arch portion 16 of the left rear wheel in the vehicle 12 The left wheel arch portion and other portions Of course, it can be applied by setting the corresponding moving mold. Examples of the application location where the roll hemming force is applied include a front wheel nose edge, a door edge, a bonnet edge and a trunk edge in the vehicle 12. In addition, roll hemming is not limited to folding a single thin plate. For example, by bending the flange 17, the end of an inner panel, which is a separate thin plate, may be sandwiched.

Here, the hemming unit 20a according to the modified example will be described in detail with reference to FIGS. As with the hemming unit 20, the hemming unit 20a has a hemming roller 30 and a guide roller 32 in a floating structure. With respect to the hemming unit 20a, the same components as those of the hemming unit 20 are denoted by the same reference numerals and description thereof is omitted.

FIG. 12 is a perspective view of the hemming unit 20a, FIG. 13 is a partial sectional side view showing the hemming unit 20a before hemming, and FIG. 14 is a hemming unit 20a during hemming FIG. In FIGS. 12 to 14, the outer box 21 is transparently shown by a two-dot chain line so that the structure of the hemming unit 20 a can be visually recognized.

[0108] The hemming unit 20a includes a hemming roller 30 and a guide roller 32, support shafts 30a and 32a that pivotally support them, a first movable portion 100 as a movable portion having the support shaft 30a on the upper end surface, and a support shaft. The rod 104 is connected to the second movable portion 102 as the movable portion having the upper end surface 32a and the side surfaces 100a and 102a facing the lower portions of the first movable portion 100 and the second movable portion 102. A cylinder 106 that connects the first movable unit 100 and the second movable unit 102 and displaces them in the Y direction, and a base unit 110 that supports the first movable unit 100, the second movable unit 102, and the cylinder 106 with respect to the robot 22. Prepare.

[0109] The base 110 has a substantially U-shaped shape with the lower side longer than the upper side in a side view (see FIG. 4). The base 110 is fixed to the bracket 22a and is substantially in a side view (see FIG. 4). The linear guide 112 is attached to the second rail 25 that is supported in the X direction by the U-shaped support member 22b. A third movable part 114 supported so as to be displaceable in the X direction, a rectangular base 116 projecting in the Y direction from a slightly lower center of the third movable part 114 in the X direction, and the base 116 A rectangular tip support member 118 provided on the tip surface of the first flat plate 120a, a rectangular flat plate 120a projecting from the upper part of the third movable portion 114 in a direction parallel to the base 116, and a tip of the flat plate 120a. It has a rectangular partition part 120b provided in parallel with the third movable part 114. Further, the side surface 102b on the third movable portion 114 side above the second movable portion 102 and the tip end portion of the extending portion 122 extending from the second movable portion 102 to the third movable portion 114 side are directed in the X direction. The first support means 126 and the second support means 127 are arranged in series between the side surface 124a of the support member 124 protruding so as not to contact the flat plate 120a. A partition 120b is provided so as to partition the space.

In addition, in the upper space of the base 116 where the third movable portion 114 and the tip support member 118 face each other, the first rail 128 extends in parallel with the base 116. The first movable part 100 and the second movable part 102 are supported by the first rail 128 so as to be displaceable in the Y direction via linear guides 130 and 132, respectively. That is, the first movable part 100 and the second movable part 102 are supported by the base part 110 via the linear guides 130, 132, etc., and these function as a movable mechanism. Further, the second movable portion 102 is supported by the first support means 126 and the second support means 127 following the Y direction in the Y direction through the partition 120b as described above. That is, when the second movable part 102 is displaced in a direction away from the first movable part 100, the second support means 127 is contracted by the partition part 120b, and the second movable part 102 approaches the first movable part 100. The first support means 126 is contracted by the partition part 120b.

[0111] Further, the protruding portion 22c protruding from the lower end face of the support member 22b in the Y direction and the base 116 are supported and elastically supported by the third support means 138. The third support means is provided as a pair so as to connect the lateral portion 22c and both side ends of the base 116, but the lateral portion 22c and the center portion in the width direction of the base 116 are coupled. Of course, it is possible to have only one.

[0112] The first support means 126, the second support means 127, and the third support means 138 all have the same configuration, and the first support means 126 includes a shaft portion 126a and the shaft portion 126a. The second support means 127 includes a shaft portion 127a and the shaft portion 1. And a spring 127b arranged around 27a. Similarly, the third support means 138 includes a shaft portion 138a and a spring 138b installed around the shaft portion 138a. Each of the shaft portions 126a, 127a, 138a may be constituted by, for example, a hydraulic damper or a pneumatic damper.

[0113] Since the first support means 126 and the second support means 127 have the above-described configuration, as described above, the second movable portion 102 is displaced by the linear guide 132 in the Y direction relative to the base portion 110. At the same time, the first support means 126 and the second support means 127 support and elastically support the base 110 via the partition 120b in the Y direction. Similarly, since the third support means has the above-described configuration, the base 116 is driven and inertial in the X direction with respect to the lateral portion 22c fixed to the robot 22 by the third support means. Supported by

[0114] Incidentally, the second movable portion 102 has one side surface 102a extending downward and the other side surface 102c, and the other side surface 102c has a first locking portion as a first locking portion. A first stopper 134 is provided, and the first stocker 134 is freely engageable with a second stocker 136 provided at the distal end of the lateral protrusion 22c. That is, the tip of the first stagger 134 is a substantially truncated cone-shaped convex portion, and the second strobe 136 is a substantially mortar-shaped recess into which the tip of the first stagger 134 can be inserted. For this reason, as shown in FIG. 4, the rod 104 of the cylinder 106 is extended so that the distance between the hemming roller 30 and the guide roller 32 is maximized, that is, before or after the hemming process described later. In a state where the hemming roller 30 is separated from the vehicle 12, the first stopper 134 and the second stopper 136 are engaged. On the other hand, as shown in FIG. 5, the mouth 104 of the cylinder 106 is retracted and the distance between the hemming roller 30 and the guide roller 32 is narrowed, that is, the hemming roller 30 in the hemming carriage described later. When the vehicle is in contact with the vehicle 12, the first stopper 134 and the second stopper 136 are not engaged.

[0115] The first movable part 100 is connected to the cylinder 106 when the rod 104 of the cylinder 106 is extended and the first stopper 134 and the second stopper 136 are engaged (see FIG. 4). The tip 104 is contacted and supported by the pressing force in the direction opposite to the second movable portion 102 side by the pad 104. On the other hand, in a state where the rod 104 of the cylinder 106 is retracted and the first stopper 134 and the second stopper 136 are not engaged (see FIG. 5), the first movable portion 100 is moved to the second movable portion 102 by the rod 104. Is kept close to the second movable part 102 by the attractive force to the side. Be held.

[0116] The hemming processing apparatus and the hemming processing method according to the present invention are not limited to the above-described embodiments, and various configurations can be adopted without departing from the gist of the present invention.

[0117] This application is a Japanese patent application filed on June 21, 2005 (Japanese Patent Application 2005-180611),

This is based on a Japanese patent application filed on June 14, 2006 (Japanese Patent Application No. 2006-164485), the contents of which are incorporated herein by reference.

Industrial applicability

The present invention can be used in a hemming processing method and a hemming processing apparatus for bending a flange provided at an end portion of a workpiece in accordance with a mold.

Claims

The scope of the claims

[1] A positioning step in which a surface of a movable mold provided with a guide strip is brought into contact with a workpiece, and the guide strip is positioned so as to be substantially parallel to a flange provided at an end of the workpiece; and the guide A rolling process in which a guide roller is engaged with a strip and a hemming force is applied to the flange by a hemming roller that rotates in conjunction with the guide roller, and the moving mold is moved after the hemming process. A hemming method comprising: a separation step of separating the workpiece.

[2] The hemming processing method according to claim 1, wherein the movable mold is attached to a workpiece and fixed in position.

[3] The hemming processing method according to claim 1, wherein the movable mold has a plate shape, and the guide strip is provided with a first guide strip provided on a back surface outside the end of the flange. And a second guide strip provided on the back surface on the inner side of the end portion of the flange, and the hemming roller is provided on the front end side in a tapered shape with a force directed inward from the end portion of the flange. A taper roller and a cylindrical roller provided on the base end side in a cylindrical shape. In the processing step, the guide roller is rolled while being engaged with the first guide strip, and the taper roller is A first hemming step in which the flange is brought into contact with the flange, and the guide roller is rolled while being engaged with the second guide strip, and the flange and the movable mold are sandwiched between the cylindrical roller and the guide roller. Second hemi Hemming working method according to feature that it has a grayed step.

[4] A mold having a front surface in contact with a workpiece having a flange and a first guide strip and a second guide strip substantially parallel to the flange on the back surface, and the first guide strip or the second guide strip depending on the process. A hemming / cage device having a guide roller that engages with a two-guide strip and a hemming roller that interlocks with the guide roller and performs hemming on the flange, wherein the first guide strip Is provided outside the end of the flange, the second guide strip is provided inside the end of the flange, and the hemming roller is directed inward from the end of the flange. A hemming processing apparatus comprising: a tapered roller having a tapered shape provided on a distal end side and a cylindrical roller having a cylindrical shape provided on a proximal end side.

[5] A hemisphere that bends the flange of the workpiece placed at a given station using a roller. A first step of conveying a moving mold arranged in the vicinity of the station by a mold moving means and contacting the workpiece, and the moving mold and the roller And a second step of bending the workpiece while rolling the hemming roller with respect to the flange.

6. The hemming processing method according to claim 5, wherein the mold moving means is a multi-joint robot capable of performing a program operation.

[7] In the hemming method according to claim 5, in the second step, the moving roller is held in a state in which the moving mold is in contact with the workpiece by the mold moving means. A hemming method comprising bending the flange by moving the roller by means of roller moving means.

[8] The hemming processing method according to claim 5, wherein the mold moving means holds the hemming roller and the moving mold, and in the first step, the moving mold is positioned by a positioning and fixing means. The movable mold is fixed to the workpiece, and then the movable mold is separated from the mold moving means. In the second step, the movable mold is brought into contact with the workpiece by the positioning and fixing means. The hemming processing method is characterized in that the flange is bent by moving the hemming roller by the mold moving means while being held in place.

[9] The hemming method according to claim 5, wherein the moving mold includes a guide strip that is substantially parallel to the flange in a state of being in contact with the workpiece in the first step, The hemming roller is connected to a guide roller guided by the guide strip. In the second step, the hemming roller is used to force the hemming roller while rolling the guide roller along the guide strip. A hemming cache method characterized by:

[10] In the hemming check method according to claim 5, a plurality of types of the moving molds are arranged in the vicinity of the station, and the mold moving means is transported next to an external computer force. A hemming processing method characterized in that information on an incoming workpiece is obtained, and a moving mold corresponding to the next workpiece is selected and conveyed.

[11] A hemming apparatus for bending a workpiece flange arranged at a predetermined station using a roller, the moving mold arranged near the station, and the transfer A mold moving means for bringing a moving mold into contact with the workpiece; a hemming roller that bends a force that does not roll against the flange; and a roller moving means that moves the hemming roller along the flange. The hemming processing apparatus characterized by the above-mentioned.

12. The hemming machining apparatus according to claim 11, wherein the mold moving unit and the roller moving unit are multi-joint robots that can be programmed.

[13] The hemming processing apparatus according to claim 11, wherein the moving mold includes positioning and fixing means for the workpiece, and the mold moving means and the roller moving means are common moving means, and the hemming roller A hemming apparatus comprising: a roller holding portion for holding; and a die holding portion for detachably holding the die.

[14] The hemming processing apparatus according to claim 11, wherein the movable mold includes a guide strip that is substantially parallel to the flange in a state of being in contact with the workpiece, and the hemming roller is provided by the guide strip. The hemming carriage is connected to a guide roller to be guided, and the roller moving means performs force feeding by the hemming roller while rolling the guide roller while following the guide strip. Equipment.

15. The hemming processing apparatus according to claim 14, wherein the processing roller and the guide roller are supported so as to be displaceable in an axial direction with respect to the roller moving means while maintaining a relative position. The hemming processing apparatus characterized by the above-mentioned.

[16] A mold including a guide strip, a guide roller that rolls while its axial position is defined by the guide strip, a hemming roller that performs hemming on the flange, the guide roller, and the hemming roller A hemming unit for supporting, and roller moving means for moving the hemming unit so as to perform processing by the hemming roller while rolling the guide roller while following the guide roller. The hemming processing apparatus is characterized in that at least one of the hemming roller and the guide roller is supported so as to be axially displaceable.

[17] The hemming machining device according to claim 16, wherein the hemming unit supports the guide roller and the hemming roller so as to be displaceable in an axial direction while maintaining a relative position. apparatus. 18. The hemming processing apparatus according to claim 16, wherein the roller moving means is a multi-joint robot that can be programmed.